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Improvements to testspeed.cc:

Browse Source 
- Turn on internal profiling by default, adding "other" category.
- Print step timing in microseconds.

PiperOrigin-RevId: 545493349
Change-Id: I0cd5fea1206b3f86f1c757130169975d6862733d
This commit is contained in:
Yuval Tassa
2023-07-04 12:53:16 -07:00
committed by Copybara-Service
parent 46e06c4cac
commit 761649c3a3
1 changed files with 36 additions and 26 deletions
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sample/testspeed.cc
+36 -26
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@@ -119,30 +119,26 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
int main(int argc, char** argv) {
// print help if arguments are missing
if (argc<2 || argc>6) {
if (argc < 2 || argc > 6) {
return finish("\n Usage: testspeed modelfile [nstep nthread ctrlnoise profile]\n");
}
// read arguments
int nstep = 10000, nthread = 0, profile = 0;
int nstep = 10000, nthread = 0, profile = 1;
// inject small noise by default, to avoid fixed contact state
mjtNum ctrlnoise = 0.01;
if (argc>2)
if (std::sscanf(argv[2], "%d", &nstep)!=1 || nstep<=0) {
return finish("Invalid nstep argument");
}
if (argc>3)
if (std::sscanf(argv[3], "%d", &nthread)!=1) {
return finish("Invalid nthread argument");
}
if (argc>4)
if (std::sscanf(argv[4], "%lf", &ctrlnoise)!=1) {
return finish("Invalid ctrlnoise argument");
}
if (argc>5)
if (std::sscanf(argv[5], "%d", &profile)!=1) {
return finish("Invalid profile argument");
}
if (argc > 2 && (std::sscanf(argv[2], "%d", &nstep) != 1 || nstep <= 0)) {
return finish("Invalid nstep argument");
}
if (argc > 3 && std::sscanf(argv[3], "%d", &nthread) != 1) {
return finish("Invalid nthread argument");
}
if (argc > 4 && std::sscanf(argv[4], "%lf", &ctrlnoise) != 1) {
return finish("Invalid ctrlnoise argument");
}
if (argc > 5 && std::sscanf(argv[5], "%d", &profile) != 1) {
return finish("Invalid profile argument");
}
// clamp ctrlnoise to [0.0, 1.0]
ctrlnoise = mjMAX(0.0, mjMIN(ctrlnoise, 1.0));
@@ -152,7 +148,7 @@ int main(int argc, char** argv) {
// get filename, determine file type
std::string filename(argv[1]);
bool binary = (filename.find(".mjb")!=std::string::npos);
bool binary = (filename.find(".mjb") != std::string::npos);
// load model
char error[1000] = "Could not load binary model";
@@ -209,12 +205,13 @@ int main(int argc, char** argv) {
double tottime = gettm() - starttime;
// all-thread summary
constexpr char mu_str[3] = "\u00B5"; // unicode mu character
if (nthread>1) {
std::printf("Summary for all %d threads\n\n", nthread);
std::printf(" Total simulation time : %.2f s\n", tottime);
std::printf(" Total steps per second : %.0f\n", nthread*nstep/tottime);
std::printf(" Total realtime factor : %.2f x\n", nthread*nstep*m->opt.timestep/tottime);
std::printf(" Total time per step : %.4f ms\n\n", 1000*tottime/(nthread*nstep));
std::printf(" Total time per step : %.1f %ss\n\n", 1e6*tottime/(nthread*nstep), mu_str);
std::printf("Details for thread 0\n\n");
}
@@ -223,7 +220,7 @@ int main(int argc, char** argv) {
std::printf(" Simulation time : %.2f s\n", simtime[0]);
std::printf(" Steps per second : %.0f\n", nstep/simtime[0]);
std::printf(" Realtime factor : %.2f x\n", nstep*m->opt.timestep/simtime[0]);
std::printf(" Time per step : %.4f ms\n\n", 1000*simtime[0]/nstep);
std::printf(" Time per step : %.1f %ss\n\n", 1e6*simtime[0]/nstep, mu_str);
std::printf(" Broadphase accuracy : %.2f%%\n", accuracy_broad[0]/nstep);
std::printf(" Midphase accuracy : %.2f%%\n", accuracy_mid[0]/nstep);
std::printf(" Contacts per step : %.2f\n", static_cast<float>(contacts[0])/nstep);
@@ -232,14 +229,27 @@ int main(int argc, char** argv) {
// profiler results for thread 0
if (profile) {
printf(" Profiler phase (ms per step)\n");
printf(" Internal profiler for thread 0 (%ss per step)\n", mu_str);
mjtNum tstep = d[0]->timer[mjTIMER_STEP].duration/d[0]->timer[mjTIMER_STEP].number;
for (int i=0; i<mjNTIMER; i++)
if (d[0]->timer[i].number>0) {
mjtNum components = 0, total = 0;
for (int i=0; i<mjNTIMER; i++) {
if (d[0]->timer[i].number > 0) {
mjtNum istep = d[0]->timer[i].duration/d[0]->timer[i].number;
std::printf(" %16s : %.5f (%6.2f %%)\n", mjTIMERSTRING[i],
1000*istep, 100*istep/tstep);
std::printf(" %16s : %6.1f (%6.2f %%)\n", mjTIMERSTRING[i], 1e6*istep, 100*istep/tstep);
// save step time, add up timing of components
if (i == 0) total = istep;
if (i >= mjTIMER_POSITION && i <= mjTIMER_CONSTRAINT) {
components += istep;
}
}
}
// compute "other" (computation not covered by timers)
if (tstep > 0) {
mjtNum other = total - components;
std::printf(" %16s : %6.1f (%6.2f %%)\n", "other", 1e6*other, 100*other/tstep);
}
}
// free per-thread data